Point Cloud Library (PCL) 1.15.1
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List of all members | Public Member Functions | Public Attributes
pcl::cuda::OrganizedRadiusSearch< CloudPtr > Class Template Reference

Kernel to compute a radius neighborhood given a organized point cloud (aka range image cloud). More...

#include </build/pcl-uIWyNl/pcl-1.15.1+dfsg/cuda/common/include/pcl/cuda/common/eigen.h>

Public Member Functions

 OrganizedRadiusSearch (const CloudPtr &input, float focalLength, float sqr_radius)
__host__ __device__ int4 getProjectedRadiusSearchBox (const float3 &point_arg)
__host__ __device__ int radiusSearch (const float3 &query_pt, int k_indices[], int max_nnn)
__host__ __device__ int computeCovarianceOnline (const float3 &query_pt, CovarianceMatrix &cov, float sqrt_desired_nr_neighbors)
__host__ __device__ float3 computeCentroid (const float3 &query_pt, CovarianceMatrix &cov, float sqrt_desired_nr_neighbors)

Public Attributes

float focalLength_
const PointXYZRGB * points_
int width_
int height_
float sqr_radius_

Detailed Description

template<typename CloudPtr>
class pcl::cuda::OrganizedRadiusSearch< CloudPtr >

Kernel to compute a radius neighborhood given a organized point cloud (aka range image cloud).

Definition at line 524 of file eigen.h.

Constructor & Destructor Documentation

◆ OrganizedRadiusSearch()

template<typename CloudPtr>
pcl::cuda::OrganizedRadiusSearch< CloudPtr >::OrganizedRadiusSearch ( const CloudPtr & input,
float focalLength,
float sqr_radius )
inline

Definition at line 527 of file eigen.h.

References focalLength_, height_, points_, sqr_radius_, and width_.

Member Function Documentation

◆ computeCentroid()

template<typename CloudPtr>
__host__ __device__ float3 pcl::cuda::OrganizedRadiusSearch< CloudPtr >::computeCentroid ( const float3 & query_pt,
CovarianceMatrix & cov,
float sqrt_desired_nr_neighbors )
inline

Definition at line 705 of file eigen.h.

References getProjectedRadiusSearchBox(), height_, points_, sqr_radius_, and width_.

◆ computeCovarianceOnline()

template<typename CloudPtr>
__host__ __device__ int pcl::cuda::OrganizedRadiusSearch< CloudPtr >::computeCovarianceOnline ( const float3 & query_pt,
CovarianceMatrix & cov,
float sqrt_desired_nr_neighbors )
inline

Definition at line 622 of file eigen.h.

References pcl::cuda::CovarianceMatrix::data, getProjectedRadiusSearchBox(), height_, points_, sqr_radius_, and width_.

◆ getProjectedRadiusSearchBox()

template<typename CloudPtr>
__host__ __device__ int4 pcl::cuda::OrganizedRadiusSearch< CloudPtr >::getProjectedRadiusSearchBox ( const float3 & point_arg)
inline

Definition at line 540 of file eigen.h.

References focalLength_, height_, sqr_radius_, and width_.

Referenced by computeCentroid(), computeCovarianceOnline(), and radiusSearch().

◆ radiusSearch()

template<typename CloudPtr>
__host__ __device__ int pcl::cuda::OrganizedRadiusSearch< CloudPtr >::radiusSearch ( const float3 & query_pt,
int k_indices[],
int max_nnn )
inline

Definition at line 590 of file eigen.h.

References getProjectedRadiusSearchBox(), points_, sqr_radius_, and width_.

Member Data Documentation

◆ focalLength_

template<typename CloudPtr>
float pcl::cuda::OrganizedRadiusSearch< CloudPtr >::focalLength_

Definition at line 765 of file eigen.h.

Referenced by getProjectedRadiusSearchBox(), and OrganizedRadiusSearch().

◆ height_

template<typename CloudPtr>
int pcl::cuda::OrganizedRadiusSearch< CloudPtr >::height_

Definition at line 767 of file eigen.h.

Referenced by computeCentroid(), computeCovarianceOnline(), getProjectedRadiusSearchBox(), and OrganizedRadiusSearch().

◆ points_

template<typename CloudPtr>
const PointXYZRGB* pcl::cuda::OrganizedRadiusSearch< CloudPtr >::points_

Definition at line 766 of file eigen.h.

Referenced by computeCentroid(), computeCovarianceOnline(), OrganizedRadiusSearch(), and radiusSearch().

◆ sqr_radius_

template<typename CloudPtr>
float pcl::cuda::OrganizedRadiusSearch< CloudPtr >::sqr_radius_

Definition at line 768 of file eigen.h.

Referenced by computeCentroid(), computeCovarianceOnline(), getProjectedRadiusSearchBox(), OrganizedRadiusSearch(), and radiusSearch().

◆ width_

template<typename CloudPtr>
int pcl::cuda::OrganizedRadiusSearch< CloudPtr >::width_

Definition at line 767 of file eigen.h.

Referenced by computeCentroid(), computeCovarianceOnline(), getProjectedRadiusSearchBox(), OrganizedRadiusSearch(), and radiusSearch().

The documentation for this class was generated from the following file: